Carrying robot and warehousing system

Abstract

The invention provides a transfer robot and a warehousing system. The transfer robot comprises a walking platform, a grabbing platform and a platform lifting mechanism, and the grabbing platform is hung below the walking platform in a lifting mode through the platform lifting mechanism; the platform lifting mechanism comprises a lifting driving device and a plurality of belts, the lifting driving device is installed on the walking platform, the upper ends of the belts are connected to the lifting driving device, the lower ends of the belts are connected to the grabbing platform, and the belts are lined with a plurality of steel wire cores; wherein the two ends of the steel wire cores of the at least two belts are electrically connected with the walking platform and the grabbing platform correspondingly, and the two ends of the steel wire cores of the at least two belts are in communication connection with the walking platform and the grabbing platform correspondingly. According to the carrying robot, the belt lined with the steel wire core serves as the transmission belt, so that the belt can serve as the transmission belt of the platform lifting mechanism, a conducting medium and a communication medium, and the transmission requirement, the conducting requirement and the communication requirement between the walking platform and the grabbing platform are met at the same time.

Description

Technical Field

[0001] The present application relates to the field of warehousing technology, and in particular to a handling robot and a warehousing system. Background Art

[0002] Three-dimensional warehousing systems, with their high space utilization, robust inbound and outbound capabilities, and computer-controlled management that facilitates modern enterprise management, have become an indispensable warehousing technology for logistics and production management, and are gaining increasing attention from businesses. With the development of automated three-dimensional warehouse technology, its high storage efficiency and high warehouse utilization rates have gradually become widely used. Within automated warehouses, handling robots are mounted on rail racks, which move on the rails to grab and transfer bins.

[0003] A handling robot typically consists of two parts: one mounted on a track frame, and the other driven by a transmission mechanism to move relative to each other to pick up and place containers. Because these two parts of the handling robot work in coordination, electrical communication and communication are required. To achieve this, a drag chain is installed between the two parts to pull and protect the internal cables. This drag chain occupies space between the two parts, significantly restricting the handling robot's structural layout and increasing its overall size, particularly in height.

[0004] To simplify wiring and reduce the space occupied by equipment, the applicant's previously filed invention patent application 202011239898.X disclosed the use of an exposed metal transmission belt. The reel device and transmission belt can control the lifting and lowering of the second platform relative to the first platform. The metal belt and the outer core of the reel device can also serve as a conductive medium, simultaneously meeting the transmission and conductivity requirements between the upper and lower platforms of the automated warehouse's box-moving robots. The applicant's previously filed invention patent application 202011238792.8 disclosed the use of a metal belt as a transmission belt, allowing the metal belt and the outer core of the reel device to serve as a communication medium, simultaneously meeting the transmission and communication requirements between the upper and lower platforms of the automated warehouse's box-moving robots.

[0005] Since the structure of the handling robot mostly uses metal parts and is tightly arranged, and the exposed metal belts used as conductive or communication media are easily affected by environmental interference, conduction and communication are easily interfered with, resulting in instability and even safety hazards. Summary of the Invention

[0006] In order to solve the existing technical problems, the present application provides a handling robot and a storage system that can simplify the structure and ensure safety and stability.

[0007] To achieve the above objectives, the technical solution of the embodiment of the present application is implemented as follows:

[0008] On the one hand, an embodiment of the present application provides a handling robot, comprising a walking platform, a grasping platform and a platform lifting mechanism, wherein the grasping platform can be suspended and raised below the walking platform by the platform lifting mechanism; the platform lifting mechanism comprises a lifting drive device and multiple belts, the lifting drive device is installed on the walking platform, the upper end of the belt is connected to the lifting drive device, the lower end of the belt is connected to the grasping platform, and the belt is lined with multiple steel wire cores; wherein the two ends of the steel wire cores of two belts are respectively conductively connected to the walking platform and the grasping platform, wherein the two ends of the steel wire cores of the two belts are respectively communicatively connected to the walking platform and the grasping platform.

[0009] In one embodiment, the belt includes a belt portion and a tooth portion formed of an insulating material, the tooth portion is arranged on one side of the belt portion, and a plurality of steel wire cores are lined in the belt portion at uniform intervals along the length direction of the belt portion.

[0010] In one embodiment, the number of the steel wire cores in the lining of the belt is 24, and the belt portion and the tooth portion are made of plastic or rubber.

[0011] In one embodiment, the lifting drive device of the platform lifting mechanism also includes a number of belt lifting assemblies equal to the number of belts, each of the belt lifting assemblies is used to lift one of the belts; each of the belt lifting assemblies includes a driving gear and a winder, the upper end of the belt is connected to the winder, the middle of the belt is engaged with the driving gear, and the lower end of the belt is connected to the grabbing platform.

[0012] In one embodiment, the belt lifting assembly further includes a plurality of pressure wheels, and the pressure wheels are wrapped around the driving gear so that the engagement angle of the belt around the driving gear is 180°.

[0013] In one embodiment, the winder is fixed above the corresponding driving gear, and includes a winding motor, a winding shaft, a belt fixing clamp, a limiting reel and a conductive slip ring. The power output end of the winding motor is connected to the winding shaft. The belt fixing clamp is used to fix the upper end of the belt and is installed on the winding shaft. The limiting reel is arranged on the winding shaft and is located on both sides of the belt fixing clamp. The electric slip ring is arranged on the winding shaft. The steel wire core stripped from the upper end of the belt is connected to the electric slip ring. The other side of the electric slip ring is provided with a lead for connecting to the walking platform.

[0014] In one embodiment, the belt fixing clamp includes a winding shaft and a clamping ring. The winding shaft is fixed on the winding shaft and can rotate with the winding shaft. The clamping ring is clamped on the outside of the winding shaft to clamp the end of the belt between the winding shaft and the clamping ring.

[0015] In one embodiment, a notch is provided on the outer wall of the winding shaft, and a protrusion is correspondingly provided on the inner wall of the clamping ring, and the protrusion can be embedded in the notch to fix the clamping ring relative to the winding shaft; an opening is provided on the clamping ring, and the other end of the belt can pass through the opening and engage with the driving gear.

[0016] In one embodiment, a plurality of latching teeth are provided on the outer wall of the winding shaft, and the latching teeth match the tooth portion; the outer wall of the winding shaft and the inner wall of the clamping ring are respectively provided with a first recess and a second recess near the end of the belt, and the first recess and the second recess are combined to form a cavity, so that the steel wire core peeled off from the end of the belt can be led out from the cavity, pass through the corresponding through hole on the limiting reel, and be electrically connected to the electric slip ring.

[0017] In one embodiment, the latching teeth on the winding shaft are distributed within an angle range greater than 90°.

[0018] In one embodiment, the lifting drive device includes a lifting drive motor, a sprocket, a transmission shaft and a chain. The two transmission shafts are respectively arranged on both sides of the lifting drive motor. The sprocket is installed on the power output shaft of the lifting drive motor and the transmission shaft; the sprocket is engaged with the chain to make the sprocket linked.

[0019] In one embodiment, the sprockets on the two transmission shafts have the same diameter and number of teeth, a driving gear is installed at the end of each transmission shaft, and the four belts are respectively connected to the four corners of the grabbing platform through belt fixing seats.

[0020] On the other hand, an embodiment of the present application also provides a warehousing system, including a handling robot, a track frame and several material boxes as described above, wherein the track frame is arranged in a horizontal direction, and the walking platform can be slidably installed on the track frame to move the grabbing platform to release or grab the material box.

[0021] The handling robot and storage system of the present application have at least the following beneficial effects: A belt lined with steel wire core is used in the handling robot as the transmission belt of the platform lifting mechanism, thereby enabling the belt to function not only as the transmission belt of the lifting drive device but also as a conductive medium and a communication medium, thereby simultaneously meeting the transmission, conductivity, and communication requirements between the walking platform and the grasping platform of the handling robot in the storage system. Furthermore, the belt structure, which utilizes an outer layer of insulating material and an inner layer of steel wire core, not only meets the load-bearing requirements but also provides insulation, avoiding problems such as conductive short circuits and signal interference, thereby enhancing the safety and stability of the entire system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of the storage system before grabbing the material box in an embodiment of the present application;

[0023] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the storage system after grabbing the material box;

[0024] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure of the storage system from another angle after removing the material box;

[0025] Figure 4 for Figure 3 Schematic diagram of the decomposition structure of the warehousing system in;

[0026] Figure 5 for Figure 3 An enlarged view of the platform lifting mechanism of the handling robot in the storage system;

[0027] Figure 6 for Figure 5 Schematic diagram of the main structure;

[0028] Figure 7 for Figure 5 An enlarged view of the middle drive gear and the pinch wheel;

[0029] Figure 8 for Figure 6 An enlarged view of the middle drive gear and the pinch wheel;

[0030] Figure 9 for Figure 8 The side view of the structure of the belt after the glue is peeled off at both ends;

[0031] Figure 10 for Figure 9 Schematic diagram of the top view structure;

[0032] Figure 11 for Figure 5 An enlarged view of the winder in FIG.

[0033] Figure 12 for Figure 4 Enlarged view of part I;

[0034] Figure 13 for Figure 11 Schematic diagram of the exploded structure of the belt fixing clip of the middle winder;

[0035] Figure 14 for Figure 13 Schematic diagram of the main structure of the belt fixing clip fixing the belt.

[0036] The components in the figure are numbered as follows:

[0037] The handling robot 100 (including a walking platform 110, a gripping platform 120, a platform lifting mechanism 130; a walking platform top plate 111, a walking platform bottom plate 112, and walking wheels 113; a gripping platform plate 121, a gripping mechanism 122, an alignment mechanism 123, and a belt fixing seat 124; a lifting drive motor 131, a sprocket 132, a chain, a transmission shaft 133, a driving gear 134, a belt 135, a winder 136, and a pressure wheel 137); Belt portion 1351, tooth portion 1352, steel wire core 1353; winding motor 1361, winding shaft 1362, belt fixing clamp 1363, limiting reel 1364, electric slip ring 1365; winding shaft core 13631, clamping ring 13632; notch 13631a, clamping tooth 13631b, first recess 13631c; protrusion 13632a, opening 13632b, second recess 13632c; lead wire 13651);

[0038] Track frame 200 (including track tube 210);

[0039] Material box 300. DETAILED DESCRIPTION

[0040] The technical solution of this application is further elaborated in detail below with reference to the accompanying drawings and specific embodiments.

[0041] In the description of this application, it should be understood that the terms "center," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0042] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0043] The present application provides a transport robot that can be used in the automatic logistics storage system for operations such as the transfer, stacking, and storage and retrieval of boxes. Figure 1 and Figure 2 The warehousing system of one embodiment of the present application may include a transport robot 100, a track frame 200, and a plurality of bins 300. The track frame 200 is arranged horizontally and fixedly mounted above or within a shelf. The transport robot 100 is slidably mounted on the track frame 200 and can move horizontally on the track frame 200 to release, grab, and transfer bins 300 placed in a single layer or multiple layers on the ground below the track frame 200 or on the bottom plate of the shelf. The bins 300 are used to accommodate goods to be stored or transported.

[0044] Specifically, the entire shelf can be a three-dimensional frame structure assembled from structural components such as columns and beams. The shelf can be provided with multiple columns, and the number of stacking layers of the material boxes can be designed accordingly based on factors such as the height of the warehouse and the load-bearing capacity of the material boxes. The bottom of each column of the shelf is divided into multiple material box storage areas for stacking material boxes. By dividing the shelf into columns and zones, the overall space of the shelf can be divided, which facilitates coordinate management of the material boxes in each area. The top of each column of the shelf can be fixed with a track frame 200 through structures such as columns and beams, and the material boxes 300 in the column can be picked up, placed and stacked by the handling robot 100.

[0045] The handling robot 100 according to one embodiment of the present application includes a walking platform 110, a grabbing platform 120, and a platform lifting mechanism 130. The upper walking platform 110 is mounted on a track frame 200, and the lower grabbing platform 120 is connected to the lower portion of the walking platform 110 via the platform lifting mechanism 130. The platform lifting mechanism 130 is disposed between the walking platform 110 and the grabbing platform 120 and can lower or raise the grabbing platform 120 relative to the walking platform 110. Specifically, the grabbing platform 120 is suspended below the walking platform 110 via the platform lifting mechanism 130 and can grab a container 300. The grabbing platform 120 grabs the container 300 and moves vertically, while the walking platform 110 drives the grabbing platform 120 to move horizontally, enabling operations such as loading, unloading, transporting, and stacking the container 300 on the shelf.

[0046] Please refer to Figure 3 and Figure 4 The walking platform 110 includes a walking platform top plate 111 and a walking platform bottom plate 112 that are spaced apart in parallel in the vertical direction. The walking platform controller (not shown) of the walking platform 110 is disposed between the walking platform top plate 111 and the walking platform bottom plate 112. The walking platform 110 is provided with walking wheels 113 on both sides above the walking platform top plate 111. A driving device (not shown) for driving the walking wheels 113 to roll is disposed in the middle of the walking platform top plate 111. In the illustrated embodiment, the four walking wheels 113 of the walking platform 110 are disposed on two sides, two on each side. The track frame 200 can utilize two parallel and spaced apart track tubes 210. The two walking wheels 113 on one side run on the bottom edge of one guide rail tube 210 of the track frame 200, and the two walking wheels 113 on the other side run on the bottom edge of the other guide rail tube 210 of the track frame 200. The internal driving device drives the walking wheels 113 to roll, and the walking platform 110 can move along the guide rail tube 210.

[0047] The grabbing platform 120 includes a grabbing platform plate 121, a grabbing mechanism 122, and an alignment mechanism 123. The grabbing mechanism 122 and the alignment mechanism 123 are disposed on the grabbing platform plate 121. The alignment mechanism 123 is disposed on the periphery of the grabbing platform plate 121 to guide the descent of the grabbing platform 120 so that it aligns with the material bin 300. The grabbing mechanism 122 is used to pick up or release the material bin 300. The grabbing platform controller (not shown) of the grabbing platform 120 is disposed above the grabbing platform plate 121.

[0048] See also Figure 5 and Figure 6 The platform lifting mechanism 130 uses a belt 135 as a lifting medium. The lifting drive controls the vertical length of the belt 135 between the grabbing platform 120 and the traveling platform 110 to achieve lifting. The lifting drive is mounted on the traveling platform 110. Multiple belts 135 connect the lifting drive and the grabbing platform 120. The lifting drive raises or lowers the belts 135 to achieve lifting.

[0049] The lifting drive device of the platform lifting mechanism 130 includes a lifting drive motor 131, a sprocket 132, a drive shaft 133, and a chain (not shown) mounted below the platform base 112. The lifting drive motor 131 is mounted across the middle of the platform base 112, and two drive shafts 133 are located on either side of the lifting drive motor 131. The sprockets 132 are mounted on the power output shaft of the lifting drive motor 131 and the drive shafts 133. The chain engages with the sprockets 132, enabling the sprockets 132 to rotate in a coordinated manner. The sprockets 132 on the two drive shafts 133 have equal diameters and numbers of teeth, ensuring that the two drive shafts 133 (and the sprockets 132 on them) rotate at equal speeds when driven by the same lifting drive motor 131 (and the sprockets 132 on them). Through the engagement relationship between the sprocket 132 installed on the power output shaft of the lifting drive motor 131 and the sprocket 132 on the transmission shaft 133 and the chain, the power of the lifting drive motor 131 can be synchronously transmitted to the two transmission shafts 133.

[0050] The lifting drive device of the platform lifting mechanism 130 also includes a number of belt lifting assemblies equal to the number of belts 135, each of which is used to lift one belt 135. In the illustrated embodiment, each drive shaft 133 is connected to a set of belt lifting assemblies at both ends, and the two drive shafts 133 are symmetrically connected to four sets of belt lifting assemblies. Each belt lifting assembly includes a drive gear 134, a winder 136, and a plurality of pressure rollers 137. The drive gear 134 is mounted on the drive shaft 133 and can rotate with the drive shaft 133. The upper end of the belt 135 is connected to the winder 136, and the middle part passes around the drive gear 134 and meshes with it. The lower end of the belt 135 is connected to the belt fixing seat 124 on the grabbing platform plate 121. The plurality of pressure rollers 137 press the belt 135 against the drive gear 134 from the outside, so that the belt 135 and the drive gear 134 are tightly meshed. More specifically, a drive gear 134 and several pressure rollers 137 are mounted on the outside of the walking platform base plate 112 via a fixed plate. A winder 136 is suspended from the edge of the walking platform top plate 111 via a cantilever, allowing the belt 135 to exit the winder 136, pass through the drive gear 134, and then be vertically connected to the grabbing platform plate 121. In the illustrated embodiment, four belts 135 are connected to the four corners of the grabbing platform plate 121, thereby suspending the grabbing platform 120 below. The belt fixing base 124 uses a tooth structure to clamp the lower end of the belt 135, allowing the steel wire core 1353 stripped from the lower end of the belt to pass through and connect to the electrical module on the grabbing platform 120.

[0051] See also Figure 7 and Figure 8To ensure the power drive of the belt 135, a plurality of pressure rollers 137 are arranged around the drive gear 134, so that the belt 135 has a large wrap angle around the drive gear 134. In the illustrated embodiment, two pressure rollers 137 press the belt 134 against the drive gear 134 from two side ribs. Two pressure rollers 137 also press the belt 135 against the drive gear 134 from above, preventing the belt 135 from falling off when meshing with the drive gear 134. The plurality of pressure rollers 137 ensure that the meshing angle between the belt 135 and the drive gear 134 is 180°, significantly increasing the number of meshing teeth between the belt 135 and the drive gear 134 and greatly improving the safety of the entire platform lifting mechanism 130.

[0052] Compared to directly winding a belt for lifting, the use of a drive gear 134 mounted on a drive shaft 133 directly meshing with a belt 135 facilitates control of the lifting process. Belt 135 rises and falls at a constant speed as the drive gear 134 rotates at a constant speed, ensuring smooth lifting. Furthermore, the simultaneous lifting of belts 135 by the same motor (lifting drive motor 131) ensures the synchronization of the lifting of multiple belts 135.

[0053] See also Figure 9 and Figure 10 Belt 135 is a single-sided toothed belt, comprising a belt portion 1351, teeth 1352, and a steel wire core 1353. The belt portion 1351 and the teeth 1352 on one side of the belt portion 1351 are made of plastic or rubber. Multiple steel wire cores 1353 are evenly spaced along the length of the belt portion 1351. The width of the belt 135 matches the thickness of the drive gear 134, and the shape and spacing of the teeth 1352 match the tooth shape and number of the drive gear 134, ensuring a tight meshing of the belt 135 and the drive gear 134. The outer layer of the belt 135 (belt portion 1351 and teeth 1352) is made of an insulating material, with the steel wire core 1353 nestled within the insulating outer layer. In the illustrated embodiment, the belt 135 contains 24 steel wire cores 1353, enabling both electrical conduction and communication. In other embodiments, the number of steel wire cores 1353 in the belt 135 can be adjusted according to actual needs.

[0054] As previously mentioned, four belts 135 connect the walking platform 110 and the gripping platform 120. Two belts 135 are used for power supply, for example, providing a 24V power supply to the gripping platform 120. The other two belts 135 are used for signal transmission, for example, one for RS485 signal A and the other for RS485 signal B. These belts, in turn, serve as transmission media for communication using the Modbus RTU protocol at a baud rate of 19200. The above voltages, communication protocols, and interfaces are examples only and can be adjusted as needed in actual applications.

[0055] See also Figure 11 The winder 136 is fixed above the corresponding drive gear 134 and includes a winding motor 1361, a winding shaft 1362, a belt fixing clamp 1363, a limiting reel 1364, and a conductive slip ring 1365. The power output of the winding motor 1361 is connected to the winding shaft 1362, on which is mounted the belt fixing clamp 1363, which secures the upper end of the belt 135. Limiting reels 1364 are located on the winding shaft 1362, on either side of the belt fixing clamp 1363, preventing the belt 135 from stacking and winding between the two limiting reels 1364. An electric slip ring 1365 is also mounted at the end of the winding shaft 1362.

[0056] Please refer to Figure 12 The upper end of the belt 135 is connected to an electrical slip ring 1365 by soldering copper wire to a steel wire core 1353 stripped from the belt 135 itself. A lead 13651 is provided on the other side of the electrical slip ring 1365, which can be connected to corresponding terminals on the electrical module of the traveling platform controller on the traveling platform 110. The electrical slip ring 1365 ensures rotational connection between the upper end of the belt 135 and the traveling platform 110. The steel wire core 1353 stripped from the lower end of the belt 135 is press-fitted to terminals connected to corresponding terminals on the electrical module of the grabbing platform controller on the grabbing platform 120. The four belts 135 of the platform lifting mechanism 130 enable power supply and communication between the traveling platform 110 and the grabbing platform 120.

[0057] Generally, belts are fixed by punching holes, but the belt 135 in this application cannot be fixed by the traditional punching method. The reason is that if the belt 135 used as a signal line is punched, several steel wire cores in the lining will be cut off, making the resistance not meet the requirements, and there is currently no shielding layer, so there is no way to shield the signal interference. In the subsequent use process, communication problems between the upper and lower platforms will occur frequently, and signal delays and other problems will also often occur, and they are difficult to troubleshoot; if the belt 135 used as a power line is punched, several steel wire cores in the lining will be cut off, and the resistance will not meet the requirements. Since the grabbing platform 120 has no current overload protection, the belt 135 will have problems such as sol.

[0058] See also Figure 13 and Figure 14 To secure the upper end of belt 135 and ensure good power supply and communication, belt securing clamp 1363 uses a winding shaft 13631 and a snap ring 13632 to secure the end of belt 135. Specifically, winding shaft 13631 is secured to winding shaft 13632 through a flat hole and can rotate with winding shaft 1362. Snap ring 13632 is secured to the outside of winding shaft 13631, clamping the end of belt 135 between winding shaft 13631 and snap ring 13632.

[0059] A recessed notch 13631a is formed on the outer wall of the winding shaft 13631, and a corresponding protrusion 13632a is formed on the inner wall of the snap ring 13632. The protrusion 13632a fits into the notch 13631a, securing the snap ring 13632 relative to the winding shaft 13631. The outer wall of the winding shaft 13631 is also provided with a plurality of latching teeth 13631b, which mate with the teeth 1352 of the belt 135. The engagement of the latching teeth 13631b with the teeth 1352 secures the end of the belt 135 to the winding shaft 13631, and the snap ring 13632 then wraps around the outer side of the belt 135, securing the end of the belt 135. The outer wall of the winding shaft 13631 and the inner wall of the retaining ring 13632 are provided with a first recess 13631c and a second recess 13632c near the end of the belt 135 (near the retaining tooth 13631b). When engaged, the first recess 13631c and the second recess 13632c form a cavity. The steel wire core 1353 stripped from the end of the belt 135 can be drawn out of the cavity, passed through the corresponding through-hole on the limiting reel 1364, and electrically connected to the electrical slip ring 1365. The retaining ring 13632 is not a closed ring; it has an opening 13632b, forming an overall C-shape. After the end of the belt 135 is fixed, the other end can pass through the opening 13632b, pass around a pressure wheel 137, and then mesh with the drive gear 134. In the illustrated embodiment, to securely secure the belt 135, the latch teeth 13631b on the winding shaft 13631 are distributed over an angle greater than 90°. In the illustrated embodiment, the latch teeth 13631b are distributed over an angle of approximately 180°, so that the engagement angle between the belt 135 and the winding shaft 13631 is approximately 180°.

[0060] The upper end of the belt 135 is fixed by the belt fixing clamp 1363 so that when the winding motor 1361 drives the winding shaft 1362 to rotate, the winding shaft 1362 drives the belt fixing clamp 1363 to rotate, thereby causing the belt 135 to be wound into a disk in circles outside the belt fixing clamp 1363 between the two limiting reels 1364.

[0061] In order to keep the tension of the belt 135 consistent in each turn when it is wound in the winder 135, the two-stage drive gear 135 (lifting drive motor 131) and the winder 136 are controlled in two stages to separate the winding belt and the unwinding belt. Specifically, during the rising process of the grabbing platform 120, the belt 135 between the winder 136 and the driving gear 135 is mainly tensioned by the fixed torque output by the winding motor 1361 in the winder 136, and the belt 135 between the driving gear 135 and the grabbing platform 120 is mainly tensioned by the weight of the grabbing platform 120. During the descending process of the grabbing platform 120, the belt 135 between the winder 136 and the driving gear 135 is mainly tensioned by the resistance of the winder 136, and the belt 135 between the driving gear 135 and the grabbing platform 120 is mainly tensioned by the weight of the grabbing platform 120. When the grabbing platform 120 descends, the winding motor 1361 is disconnected and the winding shaft 1362 rotates along with the belt 135 , so that the belt 135 is always kept tight between the winder 136 and the driving gear 134 .

[0062] In the handling robot of the present application, a platform lifting mechanism 130 is provided between the upper walking platform 110 and the lower grabbing platform 120 for raising and lowering the grabbing platform 120. The platform lifting mechanism 130 may include multiple belts 135 and a lifting drive device. The upper end of each belt 135 is connected to the lifting drive device, and the lower end of each belt 135 is fixed to the grabbing platform 120. The lifting drive device pulls up or lowers the belt 135, thereby raising and lowering the grabbing platform 120 relative to the walking platform 110.

[0063] In the warehousing system, the upper walking platform 110 of the handling robot 100 draws power from the track frame 200. The lower gripping platform 120 is electrically connected to the upper walking platform 110 via a belt 135 in the platform lifting mechanism 130, thereby providing power to the lower gripping platform 120. Furthermore, the upper walking platform 110 and the lower gripping platform 120 are each equipped with communication devices for automated control, such as signal detection devices, signal transmission devices, and signal reception devices. The lower gripping platform 120 is connected to the upper walking platform 110 via a belt 135 in the platform lifting mechanism 130, enabling communication between the gripping platform 120 and the walking platform 110.

[0064] The handling robot of this application utilizes a belt lined with steel wire as the platform lifting mechanism. This allows the belt to function not only as a transmission belt for the lifting drive but also as a conductive and communication medium, simultaneously meeting the transmission, conductivity, and communication requirements between the walking platform and the grasping platform of the handling robot within the storage system. Furthermore, the belt utilizes an outer layer of insulating material and an inner layer of steel wire, which, while meeting load-bearing requirements, also provides insulation, preventing problems such as conductive short circuits and signal interference, and enhancing the safety and stability of the entire system.

[0065] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0066] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A transport robot, characterized in that: The transport robot (100) comprises a walking platform (110), a grabbing platform (120) and a platform lifting mechanism (130), wherein the grabbing platform 120 is suspended under the walking platform (110) in a liftable manner via the platform lifting mechanism (130); the platform lifting mechanism (130) comprises a lifting drive device and a plurality of belts (135), wherein the lifting drive device is mounted on the walking platform (110), and the upper ends of the belts (135) are connected to the lifting drive device. The lower end of the belt (135) is connected to the grabbing platform (120), and the belt (135) is lined with a plurality of steel wire cores (1353); wherein the two ends of the steel wire cores (1353) of at least two of the belts (135) are respectively conductively connected to the walking platform (110) and the grabbing platform 120, and the two ends of the steel wire cores (1353) of at least two of the belts (135) are respectively communicatively connected to the walking platform (110) and the grabbing platform (120).

2. The transport robot according to claim 1, characterized in that: The belt (135) includes a belt portion (1351) and a tooth portion (1352) formed of an insulating material, wherein the tooth portion (1352) is arranged on one side of the belt portion (1351), and a plurality of steel wire cores (1353) are lined in the belt portion (1351) at uniform intervals along the length direction of the belt portion (1351).

3. The transport robot according to claim 2, characterized in that: The number of the steel wire cores (1353) in the inner lining of the belt (135) is 24, and the belt portion (1351) and the tooth portion (1352) are made of plastic or rubber.

4. The transport robot according to claim 2, characterized in that: The lifting drive device of the platform lifting mechanism (130) further includes a number of belt lifting assemblies equal to the number of the belts (135), each of the belt lifting assemblies being used to lift one of the belts (135); each of the belt lifting assemblies including a driving gear (134) and a winder (136), the upper end of the belt (135) being connected to the winder (136), the middle of the belt (135) being engaged with the driving gear (134), and the lower end of the belt (135) being connected to the grabbing platform (120).

5. The transport robot according to claim 4, characterized in that: The belt lifting assembly further includes a plurality of pinch wheels (137), which surround the driving gear (134) so ​​that the engagement angle of the belt (135) around the driving gear (134) is 180 degrees.

6. The transport robot according to claim 4, characterized in that: The winder (136) is fixed above the corresponding driving gear (134), and includes a winding motor (1361), a winding shaft (1362), a belt fixing clamp (1363), a limiting reel (1364) and a conductive slip ring (1365). The power output end of the winding motor (1361) is connected to the winding shaft (1362). The belt fixing clamp (1363) is used to fix the upper end of the belt (135) and is installed on the winding shaft (1362). ), the limiting reel (1364) is arranged on the winding shaft (1362) and is located on both sides of the belt fixing clamp (1363), the electric slip ring (1365) is arranged on the winding shaft (1362), the steel wire core (1353) stripped from the upper end of the belt (135) is connected to the electric slip ring (1365), and the other side of the electric slip ring (1365) is provided with a lead (13651) for connecting to the walking platform (110).

7. The transport robot according to claim 6, characterized in that: The belt fixing clamp (1363) includes a winding shaft core (13631) and a snap ring (13632), wherein the winding shaft core (13631) is fixed on the winding shaft (13632) and can rotate together with the winding shaft 1362, and the snap ring (13632) is clamped on the outside of the winding shaft core (13631) to clamp and fix the end of the belt (135) between the winding shaft core (13631) and the snap ring (13632).

8. The transport robot according to claim 7, characterized in that: A notch (13631a) is concavely provided on the outer wall of the winding shaft core (13631), and a protrusion (13632a) is correspondingly provided on the inner wall of the snap ring (13632). The protrusion (13632a) can be embedded in the notch (13631a) to fix the snap ring (13632) relative to the winding shaft core (13631); an opening (13632b) is provided on the snap ring (13632), and the other end of the belt (135) can pass through the opening (13632b) and engage with the driving gear (134).

9. The transport robot according to claim 8, characterized in that: The outer wall of the winding shaft (13631) is provided with a plurality of latch teeth (13631b), and the latch teeth (13631b) match the tooth portion (1352); the outer wall of the winding shaft (13631) and the inner wall of the retaining ring (13632) are respectively provided with a first recess (13631c) and a second recess (13632c) near the end of the belt (135); the first recess (13631c) and the second recess (13632c) are combined to form a cavity, so that the steel wire core (1353) peeled off from the end of the belt (135) can be led out from the cavity, pass through the corresponding through hole on the limiting reel (1364), and then be electrically connected to the electric slip ring (1365).

10. The transport robot according to claim 9, characterized in that: The latch teeth (13631b) on the winding shaft core (13631) are distributed within an angle range greater than 90°.

11. The transport robot according to claim 4, characterized in that: The lifting drive device comprises a lifting drive motor (131), a sprocket (132), a transmission shaft (133) and a chain. The two transmission shafts (133) are respectively arranged on both sides of the lifting drive motor (131). The sprocket (132) is installed on the power output shaft of the lifting drive motor (131) and the transmission shaft (133). The sprocket (132) is engaged with the chain to enable the sprocket (132) to be linked.

12. The transport robot according to claim 11, characterized in that: The sprockets (132) on the two transmission shafts (133) have the same diameter and number of teeth. A driving gear (134) is installed at the end of each transmission shaft (133). The four belts (135) are respectively connected to the four corners of the grabbing platform (120) through belt fixing seats (124).

13. A storage system, characterized in that: The invention comprises a handling robot (100) as described in any one of claims 1 to 12, a track frame (200) and a plurality of material boxes (300), wherein the track frame (200) is arranged in a horizontal direction, and the walking platform (110) is slidably mounted on the track frame (200) to move the grasping platform (120) to release or grasp the material boxes (300).

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